void GetAdjacent(Vertex u)
{
Vector2 uPos = new Vector2(u.position.x, u.position.y);
Vector2 vPos;
foreach (Vertex v in graph.graph)
{
if (u == v || v.IsAdjacent(u.id))
{
continue;
}
vPos = new Vector2(v.position.x, v.position.y);
Vector2 direction = vPos - uPos;
float distance = direction.magnitude;
direction.Normalize();
RaycastHit2D obstacle = Physics2D.CircleCast(uPos + (direction * agentRadius), agentRadius, direction, distance, 1 << 8);
if (!obstacle)
{
u.AddAdjacent(v.id);
v.AddAdjacent(u.id);
}
}
}
public AdjacencyMatrix(Mesh mesh)
{
vertexNumber = mesh.vertices.Length;
Vector3[] vertices = mesh.vertices;
int[] triangles = mesh.triangles;
bounds = mesh.bounds;
this.vertices = new List <Vertex>(vertexNumber);
for (int i = 0; i < vertexNumber; i++)
{
this.vertices.Add(new Vertex {
vertex = vertices[i]
});
}
for (int i = 0; i < triangles.Length - 3; i += 3)
{
Vertex v1 = this.vertices[triangles[i + 0]];
Vertex v2 = this.vertices[triangles[i + 1]];
Vertex v3 = this.vertices[triangles[i + 2]];
Vertex.AddAdjacent(v1, v2);
Vertex.AddAdjacent(v1, v3);
Vertex.AddAdjacent(v2, v3);
}
}
// Adds and edge by setting start as adjacent to end and
// viceversa
public EdgeIfc AddEdge( Vertex start, Vertex end )
{
start.AddAdjacent( end );
end.AddAdjacent( start );
return ( EdgeIfc ) start;
}
// Adds and edge by setting end as adjacent to start vertices
public EdgeIfc AddEdge(Vertex start, Vertex end)
{
start.AddAdjacent(end);
return(start);
}
// Adds and edge by setting end as adjacent to start vertices
public EdgeIfc AddEdge( Vertex start, Vertex end ) {
start.AddAdjacent( end );
return start;
}
